AUTOMATED CAR PARKING SYSTEM USING ROS

Set project review-1 (Team-2)

Guide:
Dr . Abraham Sampson S
BY:
Aiswarya N (23MTS0010)
Poornima S(23MTS00016)
 INTRODUCTION
• Automated car parking systems (ACPS) can be developed and
tested using the Robot Operating System (ROS) and Gazebo
simulator.
• These tools offer flexibility, open-source support, and community
support for developing and testing ACPS in various settings.
• The process involves modeling the parking lot, implementing
ACPS logic, simulating the ACPS, and testing it in real world
conditions.
• ROS is an open-source middleware framework for developing
robot software that makes it simple to create complicated systems.
• Here, we are modeling the project in Gazebo, which aids in the
development and testing of the Car model.
 IMPORTANCE OF CURRENT STUDY

• The rationale for automated car parking systems using Robot Operating System
(ROS) and Gazebo is crucial due to their safety, efficiency, cost-effectiveness, and
community support.
• The system aids in developing new algorithms, evaluating performance, conducting
real-world training, and expediting development, potentially transforming car
parking, traffic flow, and urban space.
 LITERATURE REVIEW
S. Year of
Author
n Title of paper Methodology Outcomes
name Publish
o

Automatic Parking The Deep Racer autonomous

The paper evaluates a proposed
System for Multi- Huaming driving platform is a new,
system for efficient multi-vehicle
vehicle in the Yan, centralized parking system for
1 2023 parking, highlighting potential
Autonomous Driving Chunrun multi-vehicles, scheduling parking
benefits like reduced congestion and
Platform of the Deep Du, and all using a scheduling algorithm and
improved efficiency.
Racer vehicle navigation.

The researchers propose a self- The research paper introduces a new

Michael
A Self-Driving Car driving car architecture based on ROS2-based software architecture
Reke,
Architecture in ROS2 the Robot Operating System for self-driving cars, demonstrating
2 Daniel 2022
(ROS2), focusing on safety, its safety, reliability, and real-time
Peter, and
reliability, and real- capability, making it a valuable
all
time performance. resource for developers.
S. Author Year of
Title of paper Methodology Outcomes
No name Publish

Present the quantitative and

Autonomous Parking Sunil The text provides an overview of the
qualitative results of your
System Perception Karam hardware and software setup, sensors
experiments. Use graphs, charts, and
and Control chanda used for perception, control algorithms,
3 2022 visualizations to support your
Simulations on ROS- ni, environment setup in Gazebo, and
findings. Discuss the performance of
Gazebo and all simulation parameters and scenarios.
the perception and control modules.

Bingzh Automatic parking involves defining Research on path planning and

Research on Path an scenarios, defining constraints, and tracking control for automatic parking
Planning and Tracking Zhang, developing algorithms for safe and systems leads to the development of
4 2022
Control of Automatic Zhiyua efficient paths. These algorithms are algorithms for creating safe, efficient
Parking System n Li, tested and implemented on real vehicles paths and implementing them
and all for real-world parking scenarios. on real vehicles.
 Year of
S.no Title of paper Author name Methodology Outcomes
Publish

The methodology develops a

Developing an Autonomous
Gabor G.
Valet Parking System in
5 Varga, and
Simulated Environment
all
To create an autonomous valet
simulated autonomous valet
parking system in a simulated
parking system, improving
environment, design the system
performance, controllers, and
2021 architecture, use software like
software systems through
Gazebo or CARLA, implement
machine vision algorithms,
machine vision algorithms, test,
resulting in a more reliable and
and evaluate performance.
efficient system.

The methodology enhances the

The authors assess a proposed
performance, controllers, and
A Multi-Vehicle Control framework for efficient multi-
Maximilia software systems of a simulated
Framework With vehicle parking, highlighting
6 n Kneissl 2021 autonomous valet parking system
Application to Automated potential benefits like reduced
and all using machine vision algorithms,
Valet Parking congestion and
resulting in a more reliable and
improved efficiency.
efficient system.
 Year of
S.no Title of paper Author name Methodology Outcomes
Publish

The algorithm for estimating

The parking AGV's vehicle pose
vehicle poses for parking
Vehicle pose estimation estimation algorithm faces
Zhixiong automated guided vehicles
algorithm for parking challenges due to limited space
7 Ning,Xin 2020 involves identifying requirements,
automated guided vehicle and dynamic objects, requiring
Wancn, and all selecting sensors, developing, and
robustness to noise and occlusion
testing in simulated and real-world
using multiple sensors.
environments.

Automated valet parking system

The validation process assesses
validation involves simulation,
Validation of Automated the safety and reliability of the
Hasan Esen, closed course testing, and real-
8 Valet Parking 2019 AVP system for public parking
And all world conditions to test the system
lots, ensuring it passes all
in normal and abnormal
necessary tests.
conditions.
 Author Year of
S.no Title of paper Methodology Outcomes
name Publish

The research paper introduces a

The research paper presents a
Zandra Gazebo/ROS-based methodology for
Unmanned Ground methodology for modeling and
B. modeling and simulating UGVs,
Vehicle Modelling in simulating unmanned ground vehicles in
Rivera , enabling the development and testing of
9 Gazebo/ROS-Based 2019 Gazebo/ROS-based environments,
and all control systems for autonomous
Environments including CAD software modeling,
navigation, object detection, path
simulation, control system development,
planning, obstacle avoidance, and
testing, and real-world deployment.
teleoperation.

Design and The development of an intelligent self- The development of intelligent self-
Development of driving car using ROS and machine driving cars using ROS and machine
Aswath
Intelligent Self-driving vision algorithms involves system vision involves creating new algorithms
Suresh,
10 Car Using ROS and 2018 architecture design, sensor selection, for object detection, improving
C. P.
Machine Vision machine vision algorithms processing, performance, creating efficient
Sridhar,
Algorithm controller development, and integration navigation controllers, integrating these
and all
and testing in various scenarios. into a robust software system.
 RESEARCH GAPS
• The real-time parking method utilizes sensor accuracy and path
planning to identify the optimal parking path for a car.
• The database search was utilized to create a path and navigation
for parking a car.
 OBJECTIVE

• This project aims to develop an efficient parking system that handles various
parking scenarios without human intervention.
• It is to offer real-time parking data to car drivers in the underground parking areas
of supermarkets and malls.
 PROPOSED METHODOLOGY
Vehicle dynamics Vehicle Database lookup
Vehicle arrival
Vehicle identifier and obstacle kinematics and for availability
at entry
avoidance path constraints

Destination
identifier

Parked Navigation Path planning

PRELIMINARY RESULTS
 CONCLUSION

• We installed the Ubuntu 20.04 Focal and ROS Noetic.

• We developed the Car URDF in the Gazebo simulation.
 LIMITATIONS
• Enhancing security, and
• Developing realistic simulation environments for practical deployment.
 TIMELINE
WORK PLAN
START DATE DURATION (DAYS)

Project Initiation 2 24/08/2023

Literature Review 6 25/08/2023

Design and Planning 10 01/09/2023

Prototype Development 20 10/09/2023

Data Collection 10 01/10/2023

Analysis and Results 7 11/10/2023

Documentation 22/10/2023 9

Conference Date 23/11/2023 2

REFERENCES
• Reke, M., Peter, D., Matheis, D., Teikmanis, O., Levinskis, A., Greitans, M., & Rode, M. (2020).
A self-driving car architecture in ROS2. In 2020 International SAUPEC/RobMech/PRASA
Conference (pp. 1-6). IEEE.
• Karamchandani, S., Kumar, A., Jain, A., & Gautam, S. (2022). Autonomous parking system
perception and control simulations on ROS-Gazebo. In 2021 IEEE International Conference on
Robotics and Automation (ICRA) (pp. 3079-3086). IEEE.
• Liu, J., Wang, H., & Li, Y. (2022). Research on path planning and tracking control of automatic
parking system. In 2022 IEEE International Conference on Robotics and Automation (ICRA) (pp.
7376-7382). IEEE.
• Reke, M., Peter, D., Matheis, D., Teikmanis, O., Levinskis, A., Greitans, M., & Rode, M. (2020).
Developing an autonomous valet parking system in simulated environment. In 2020 International
SAUPEC/RobMech/PRASA Conference (pp. 1-6). IEEE.
• Ning, Z., Wang, X., Wang, J., & Wen, H. (2020). Vehicle pose estimation algorithm for parking
automated guided vehicle. International Journal of Advanced Robotic Systems, 17(1),
1729881419891335.